Class that encapsulates the functionality of a FreeRTOS task. More...

#include <Task.hpp>

Inheritance diagram for FreeRTOS::Task:

Collaboration diagram for FreeRTOS::Task:

Public Member Functions
	Task (const Task &)=delete

Task &	operator= (const Task &)=delete

bool	isValid () const
	Function that checks the return value of the call to xTaskCreate in the constructor. This function should be called to ensure the task was created successfully before starting the scheduler. More...

Public Member Functions inherited from FreeRTOS::TaskBase
	TaskBase (const TaskBase &)=delete

TaskBase &	operator= (const TaskBase &)=delete

virtual void	taskEntry () final
	Function that acts as the entry point of the task instance. This function initializes the previous wake time of the task and calls the user implemented taskFunction(). More...

UBaseType_t	getPriority () const
	Function that calls `UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )` More...

void	setPriority (const UBaseType_t newPriority) const
	Function that calls `void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )` More...

void	suspend () const
	Function that calls `void vTaskSuspend( TaskHandle_t xTaskToSuspend )` More...

void	resume () const
	Function that calls `void vTaskResume( TaskHandle_t xTaskToResume )` More...

bool	resumeFromISR () const
	Function that calls `BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )` More...

bool	abortDelay () const
	Function that calls `BaseType_t xTaskAbortDelay( TaskHandle_t xTask )` More...

UBaseType_t	getStackHighWaterMark () const
	Function that calls `UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )` More...

configSTACK_DEPTH_TYPE	getStackHighWaterMark2 () const
	Function that calls `UBaseType_t uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )` More...

State	getState () const
	Function that calls `UBaseType_t uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )` More...

const char *	getName () const
	Function that calls `char *pcTaskGetName( TaskHandle_t xTaskToQuery )` More...

void	notifyGive (const UBaseType_t index=0) const
	Function that calls `BaseType_t xTaskNotifyGiveIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify )` More...

void	notifyGiveFromISR (bool &higherPriorityTaskWoken, const UBaseType_t index=0) const
	Function that calls `void vTaskNotifyGiveIndexedFromISR( TaskHandle_t xTaskHandle, UBaseType_t uxIndexToNotify, BaseType_t *pxHigherPriorityTaskWoken )` More...

void	notifyGiveFromISR (const UBaseType_t index=0) const
	Function that calls `void vTaskNotifyGiveIndexedFromISR( TaskHandle_t xTaskHandle, UBaseType_t uxIndexToNotify, BaseType_t *pxHigherPriorityTaskWoken )` More...

bool	notify (const NotifyAction action, const NotificationBits value=0, const UBaseType_t index=0) const
	Function that calls `BaseType_t xTaskNotifyIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction )` More...

std::pair< bool, NotificationBits >	notifyAndQuery (const NotifyAction action, const NotificationBits value=0, const UBaseType_t index=0) const
	Function that calls `BaseType_t xTaskNotifyAndQueryIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotifyValue )` More...

std::pair< bool, NotificationBits >	notifyAndQueryFromISR (bool &higherPriorityTaskWoken, const NotifyAction action, const NotificationBits value=0, const UBaseType_t index=0) const
	Function that calls `BaseType_t xTaskNotifyAndQueryIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t pulPreviousNotifyValue, BaseType_t pxHigherPriorityTaskWoken )` More...

std::pair< bool, NotificationBits >	notifyAndQueryFromISR (const NotifyAction action, const NotificationBits value=0, const UBaseType_t index=0) const
	Function that calls `BaseType_t xTaskNotifyAndQueryIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t pulPreviousNotifyValue, BaseType_t pxHigherPriorityTaskWoken )` More...

bool	notifyFromISR (bool &higherPriorityTaskWoken, const NotifyAction action, const NotificationBits value=0, const UBaseType_t index=0) const
	Function that calls `BaseType_t xTaskNotifyIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken )` More...

bool	notifyFromISR (const NotifyAction action, const NotificationBits value=0, const UBaseType_t index=0) const
	Function that calls `BaseType_t xTaskNotifyIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken )` More...

bool	notifyStateClear (const UBaseType_t index=0) const
	Function that calls `BaseType_t xTaskNotifyStateClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToClear )` More...

NotificationBits	notifyValueClear (const NotificationBits bitsToClear=0, const UBaseType_t index=0) const
	Function that calls `uint32_t ulTaskNotifyValueClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear )` More...

Protected Member Functions
	Task (const UBaseType_t priority=tskIDLE_PRIORITY, const configSTACK_DEPTH_TYPE stackDepth=configMINIMAL_STACK_SIZE, const char *name="")
	Construct a new Task object by calling `BaseType_t xTaskCreate( TaskFunction_t pvTaskCode, const char * const pcName, configSTACK_DEPTH_TYPE usStackDepth, void pvParameters, BaseType_t uxPriority, TaskHandle_t pxCreatedTask )` More...

	Task (Task &&) noexcept=default

Task &	operator= (Task &&) noexcept=default

Protected Member Functions inherited from FreeRTOS::TaskBase
virtual void	taskFunction ()=0
	Abstraction function that acts as the entry point of the task for the user. More...

bool	delayUntil (const TickType_t timeIncrement=0)
	Function that calls `BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement )` More...

Private Attributes
bool	taskCreatedSuccessfully = false

Additional Inherited Members
Public Types inherited from FreeRTOS::TaskBase
enum class	State { Running = eRunning , Ready = eReady , Blocked = eBlocked , Suspended = eSuspended , Deleted = eDeleted , Invalid = eInvalid }

enum class	NotifyAction { NoAction = eNoAction , SetBits = eSetBits , Increment = eIncrement , SetValueWithOverwrite = eSetValueWithOverwrite , SetValueWithoutOverwrite = eSetValueWithoutOverwrite }

using	NotificationBits = std::bitset< 32 >

Static Public Member Functions inherited from FreeRTOS::TaskBase
static void *	operator new (size_t, void *ptr)

static void *	operator new[] (size_t, void *ptr)

static void *	operator new (size_t)=delete

static void *	operator new[] (size_t)=delete

static TaskHandle_t	getIdleHandle ()
	Function that calls `TaskHandle_t xTaskGetIdleTaskHandle( void )` More...

static TaskHandle_t	getHandle (const char *name)
	Function that calls `TaskHandle_t xTaskGetHandle( const char *pcNameToQuery )` More...

static std::pair< bool, NotificationBits >	notifyWait (const TickType_t ticksToWait=portMAX_DELAY, const NotificationBits bitsToClearOnEntry=0, const NotificationBits bitsToClearOnExit=0, const UBaseType_t index=0)
	Function that calls `BaseType_t xTaskNotifyWaitIndexed( UBaseType_t uxIndexToWaitOn, uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )` More...

Static Protected Member Functions inherited from FreeRTOS::TaskBase
static void	delay (const TickType_t ticksToDelay=0)
	Function that calls `void vTaskDelay( const TickType_t xTicksToDelay )` More...

static NotificationBits	notifyTake (const TickType_t ticksToWait=portMAX_DELAY, const bool clearCountOnExit=true, const UBaseType_t index=0)
	Function that calls `uint32_t ulTaskNotifyTakeIndexed( UBaseType_t uxIndexToWaitOn, BaseType_t xClearCountOnExit, TickType_t xTicksToWait )` More...

Detailed Description

Class that encapsulates the functionality of a FreeRTOS task.

Task Task.hpp <FreeRTOS/Task.hpp>

Each task requires RAM that is used to hold the task state, and used by the task as its stack. If a task is created using this class then the required RAM is automatically allocated from the FreeRTOS heap. If a task is created using FreeRTOS::StaticTask() then the RAM is included in the object, so it can be statically allocated at compile time. See the Static Vs Dynamic allocation page for more information.

Note: This class is not intended to be instantiated by the user. The user should create a class that derives from this class and implement taskFunction().

Constructor & Destructor Documentation

◆ Task()

FreeRTOS::Task::Task	(	const UBaseType_t	priority = `tskIDLE_PRIORITY`,
		const configSTACK_DEPTH_TYPE	stackDepth = `configMINIMAL_STACK_SIZE`,
		const char *	name = `""`
	)

inlineexplicitprotected

Construct a new Task object by calling BaseType_t xTaskCreate( TaskFunction_t pvTaskCode, const char * const pcName, configSTACK_DEPTH_TYPE usStackDepth, void *pvParameters, BaseType_t uxPriority, TaskHandle_t *pxCreatedTask )

Task.hpp

See also: https://www.freertos.org/a00125.html

Warning: The user should call isValid() on this object to verify that the task was created successfully in case the memory required to create the task could not be allocated.

Note: When calling xTaskCreate the constructor passes the this pointer as the task function argument. This pointer is used so that the interface function callTaskFunction() can invoke taskEntry() for this instance of the class.

Parameters

priority	The priority at which the created task will execute. Priorities are asserted to be less than configMAX_PRIORITIES. If configASSERT is undefined, priorities are silently capped at (configMAX_PRIORITIES - 1).
stackDepth	The number of words (not bytes!) to allocate for use as the task's stack. For example, if the stack is 16-bits wide and stackDepth is 100, then 200 bytes will be allocated for use as the task's stack. As another example, if the stack is 32-bits wide and stackDepth is 400 then 1600 bytes will be allocated for use as the task's stack. The stack depth multiplied by the stack width must not exceed the maximum value that can be contained in a variable of type size_t.
name	A descriptive name for the task. This is mainly used to facilitate debugging, but can also be used to obtain a task handle. The maximum length of a task's name is defined by configMAX_TASK_NAME_LEN in FreeRTOSConfig.h.

Example Usage

#include <FreeRTOS/Task.hpp>
 
class MyTask : public FreeRTOS::Task {
 public:
  MyTask(const UBaseType_t priority, const char* name)
      : FreeRTOS::Task(priority, configMINIMAL_STACK_SIZE, name) {}
  void taskFunction() final;
};
 
// Task to be created.
void MyTask::taskFunction() {
  for (;;) {
    // Task code goes here.
  }
}
 
// Function that creates a task.
void aFunction() {
  // Create the task.
  MyTask task((tskIDLE_PRIORITY + 1), "NAME");
 
  // Check that the task was created successfully.
  if (task.isValid()) {
    // Start the scheduler.
    FreeRTOS::Kernel::startScheduler();
  }
 
  // Task will be destroyed when the scheduler is stopped and this function
  // returns.
}

Member Function Documentation

◆ isValid()

bool FreeRTOS::Task::isValid ( ) const

inline

Function that checks the return value of the call to xTaskCreate in the constructor. This function should be called to ensure the task was created successfully before starting the scheduler.

Returns: true If the task was created successfully.; false If the task was not created successfully due to insufficient memory.

The documentation for this class was generated from the following file:

/home/runner/work/FreeRTOS-Cpp/FreeRTOS-Cpp/FreeRTOS-Cpp/include/FreeRTOS/Task.hpp

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ isValid()